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A scheduling method for the horizontal transportation system of an intelligent terminal
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A technology of horizontal transportation and scheduling method, applied in the directions of comprehensive factory control, instrumentation, navigation, etc., can solve problems such as large amount of calculation, difficulty in meeting control accuracy requirements, and large control instruction issuance cycle.
Active Publication Date: 2022-07-05
江苏杰瑞信息科技有限公司
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[0004] The purpose of the present invention is to solve the problem of the shortest period T of issuing control instructions due to factors such as large amount of calculations caused by many unmanned collection cards and limitations of computer hardware level. cpmin Relatively large and difficult to meet the control accuracy requirements, a scheduling method for intelligent wharf level transportation system based on timing control and angle constraint collision detection is proposed
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specific Embodiment approach 1
[0023] Combine below figure 1 and figure 2 Illustrating this embodiment, a method for scheduling a horizontal transportation system for an intelligent terminal based on time sequence control and angle constraint collision detection described in this embodiment includes the following steps:
[0024] Step 1: The unmanned truck dispatching system for horizontal transportation allocates tasks,
[0025] Step 2: The horizontal transportation unmanned truck dispatching system plans a specific vehicle running path and the time when it arrives at each path point;
[0026] Step 3: Select the control period T based on the actual terminal scene, the number of vehicles, and the parameters of unmanned trucks as constraints p , divide the entire task time into 0~T p ,T p ~2T p ,2T p ~3T p ,...; Each control cycle is divided into two stages T according to the operation time p1 and T p2 ;
[0027] Step 4: T in each control cycle p1 In the stage, the feedback of the vehicle motion s...
specific Embodiment approach 2
[0032] Combine below image 3 , Figure 4 , Figure 5 and Image 6 Describe this embodiment, which is a further description of the first specific embodiment:
[0033] For the angle-constrained collision detection algorithm described in the step 6, see Figure 4 , the principle is:
[0034] ①According to the geometric dimensions, the boundary of each unmanned truck is equivalent to a rectangular frame.
[0035] ② Define the four vertices of the rectangular frame as the basic reference point p in a clockwise or counterclockwise order 1 ,p 2 ,p 3 ,p 4 .
[0036] ③Select several other reference points on the two long sides of the rectangular frame. The distance between two adjacent reference points on the long side cannot exceed the distance from the short side of the rectangular frame.
[0037] ④ Determine whether the two unmanned trucks collide, that is, determine whether each reference point on the two unmanned trucks is located in the equivalent rectangular frame of ...
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Abstract
A scheduling method for a horizontal transportation system of an intelligent terminal belongs to the field of intelligent unmanned autonomous systems. In order to solve the problem that the amount of calculation is large due to the large number of unmanned trucks in smart terminals and the limitation of computer hardware level is difficult to meet the control accuracy requirements. The specific scheme is as follows: divide the entire task time into several control cycles, receive vehicle motion state information feedback and the calculation and issuance of control commands at the beginning of each control cycle, and receive vehicle motion state information feedback during the remaining time The state information is monitored. If the deviation degree ε of the unmanned collecting card path is large or the vehicle may collide in the future, the control command is calculated and issued according to the control law, otherwise the calculation and issuance of the control command is not performed. The present invention can reduce the calculation amount and realize the high-precision control of the vehicle at the same time under the condition that the amount of calculation is large due to the large number of unmanned cards and the level of computer hardware cannot meet the requirements.
Description
technical field [0001] The invention belongs to the field of intelligent unmanned autonomous systems, and in particular relates to a scheduling method for an intelligent terminal horizontal transportation system based on time sequence control and angle constraint collision detection. Background technique [0002] The smart terminal is the future development direction of the terminal, of which the horizontal transportation schedulingsystem is an extremely important part. The main responsibility of the horizontal transportation scheduling system can be divided into three parts: task allocation, path planning and path control of unmanned trucks. [0003] The unmanned truck path control link mainly includes two parts: receiving vehicle status information feedback and calculating and issuing unmanned truck path control instructions. Its basic working logic is: connect the vehicle position P through the data link x ,P y , speed V x ,V y After the motion state information suc...
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